EP1050426A1 - Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé - Google Patents

Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé Download PDF

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Publication number
EP1050426A1
EP1050426A1 EP99108761A EP99108761A EP1050426A1 EP 1050426 A1 EP1050426 A1 EP 1050426A1 EP 99108761 A EP99108761 A EP 99108761A EP 99108761 A EP99108761 A EP 99108761A EP 1050426 A1 EP1050426 A1 EP 1050426A1
Authority
EP
European Patent Office
Prior art keywords
magnetic head
steering
carriage
shaped
guardrail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99108761A
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German (de)
English (en)
Inventor
Peter Otto
Heinz-Peter Schuster
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Innotech Innovative Stahl- & Fordertechnik GmbH
Original Assignee
Innotech Innovative Stahl- & Fordertechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Innotech Innovative Stahl- & Fordertechnik GmbH filed Critical Innotech Innovative Stahl- & Fordertechnik GmbH
Priority to EP99108761A priority Critical patent/EP1050426A1/fr
Publication of EP1050426A1 publication Critical patent/EP1050426A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers

Definitions

  • the present invention relates to a self-propelled vehicle with a steering device, and a magnetic head which is about an axis running vertically through the carriage is rotatably mounted, and for magnetic coupling to a guide rail for guidance of the self-driving car is designed such that the magnetic head during operation of the self-driving wagon follows the guardrail.
  • the present invention relates to a system with a self-driving car and a guardrail, in which the magnetic head of the Wagens is magnetically coupled to the guardrail.
  • a self-driving car and a system with a self-driving car are out known from DE 41 19 245 C2.
  • Such trolleys can be used in such systems as transport trolleys, stacker trolleys, robot trolleys or the like can be provided.
  • the carriage shown in this document further comprises a sensor device and a control device for controlling the steering device.
  • the sensor device detects Here, the angle of rotation of the magnetic head around the vertical through the carriage Axis and passes this to a control device.
  • the control device generates then a signal that the car is steered so that it the guardrail follows.
  • the sensor device and the control device (including the steering device) form a control loop.
  • the system shown in this document includes such a carriage and a guardrail.
  • the steering device can be controlled by simple mechanical means are so that the required in the prior art, controllable by electrical signal Steering device can be simplified.
  • the steering device can be a front wheel steering unit and / or have a rear wheel steering unit, the rotatably mounted Magnetic head with the front wheel steering unit and / or the rear wheel steering unit mechanically is coupled.
  • the steering device can be dependent on the requirements of the area of application concerned.
  • front wheel steering unit and rear wheel steering unit are suitable here in particular for warehouse transport system, because by such a steering device very much small curve radii can be driven. This leads in particular to the fact that a system operated with such cars is characterized by reduced space requirements.
  • the front wheel steering unit and / or the rear wheel steering unit by one Handlebar can be coupled to the rotatably mounted magnetic head.
  • both a front wheel steering unit and a rear wheel steering unit are used , they can be connected to the rotatably mounted magnetic head by means of a coupling rod be mechanically connected.
  • This coupling rod can be in one piece or in several pieces be trained.
  • both steering units can be operated in a particularly simple manner be coupled with each other, which in turn leads to reduced manufacturing costs of the leads inventive car.
  • the magnetic head rotatably at a first end of a cantilever is, and the other end of the boom rotatably supported about the vertical axis and is mechanically coupled to the steering device.
  • the magnetic head is provided on a cantilever, there is a movement of the magnetic head using one determined by the dimensions of the cantilever Transfer leverage to the steering device.
  • This allows, with the same magnetic Coupling between magnetic head and guardrail the steering forces are increased which, for example, in the case of a dolly, an increased loading of the Car.
  • this training means less Requirement for the strength of the magnetic coupling between the magnetic head and Guardrail. In this case, a weaker coupling can be provided which means less construction effort overall and therefore less expensive can be manufactured.
  • the boom can be connected to the coupling rod via a shaft his. This enables an efficient transmission of movements of the magnetic head on the steering device.
  • the boom can move about a horizontal axis be rotatably mounted. This allows the boom to move towards the guardrail be moved up and thereby any obstacles that are on the guardrail evade.
  • the magnetic head can have a deflector arranged in the direction of travel exhibit. This will protect the magnetic head from damage Objects on the guardrail are guaranteed.
  • This training is special advantageous in connection with a horizontally swiveling boom. If there is an object on the guardrail, the magnetic head is particularly useful when Contact of the boom with this object, through which a deflection of the boom is caused upwards, protected.
  • the front wheel steering unit and / or the rear wheel steering unit comprise: a two-legged Steering column lever which is rotatably connected to the car, which End of one leg is rotatably connected to the steering lever, a first steering push rod, one end with the end of the other leg of the pitman arm is rotatably connected, an intermediate lever, one end of which is rotatable connected to the car, a second steering push rod, one end of which with the Intermediate lever is rotatably connected, a tie rod, one end of which is rotatable one end of the first steering push rod and the other end rotatable with one end of the second steering push rod is connected, a first wheel steering lever, one end of which is rotatable with the other end of the first steering push rod is connected and the other end thereof to a first around a vertical axis Wheel rotatably attached to the carriage for rotation thereof about this axis and a second wheel control lever, one end of which is connected to the other
  • This advantageous development allows a mechanically very simple, but nevertheless very efficient steering device can be created.
  • This steering device records are characterized on the one hand by low manufacturing costs. On the other hand, guaranteed this steering device one of the magnetic coupling between the magnetic head and Rail-adapted power transmission of the movement of the magnetic head on the steering device.
  • the magnetic head has a power amplification device, for example in the form of a servo motor, be provided.
  • the magnetic head of the carriage described above can have at least one permanent magnet or comprise at least one electromagnet.
  • a permanent magnet can be used advantageously when low manufacturing costs of the car is to be respected.
  • An electromagnet requires a higher design Effort, however, leads to better handling of the wagons.
  • the car By switching off the electromagnet, the car can be operated independently of the Guardrail can be moved. This is particularly beneficial when the cart is over a turnout is to move in a guardrail system, or entirely from the guardrail system should be taken.
  • the magnetic head comprises a T-shaped, U-shaped or W-shaped cross section perpendicular to the longitudinal direction of the magnetic head having.
  • the leg or legs of the T-shape, U-shape or W-shape by at least one bar magnet provided on a pole plate be trained.
  • bar magnets the leg or legs of the shapes described above can form high field strengths, which is a sufficiently strong magnetic coupling ensure be achieved.
  • a pole plate for example Soft iron on which these bar magnets are provided also provides reinforcement magnetic coupling.
  • the above object is also achieved by a system with at least a self-propelled vehicle according to one of the previously described designs, and a guide rail for guiding the self-driving car, the car in Operation with the guardrail is magnetically coupled so that one through the guardrail caused rotation of the magnetic head around the vertical axis corresponding to the guideline Control of the steering device causes.
  • Wagons can all be connected in the system according to the invention realize with the advantages of the car designs. To avoid Repetitions will therefore only refer to the discussion above of the individual versions.
  • the guardrail can Bottom are provided and have a flat top, which in the Level of the ground.
  • guardrails are provided flush with the floor, a Risk of injury, for example by tripping over rails, is avoided.
  • the guide rail comprises a permanent magnet or an electromagnet, the polarity of the in Section of the guardrail pointing in the direction of the carriage and the polarity of the in The direction of the rail-facing section of the magnetic head opposite to each other Have polarity.
  • This allows a particularly strong magnetic coupling of the magnetic head on the guardrail.
  • This training is suitable especially when high steering forces, for example due to very high loading weight, required are.
  • An electromagnet makes it easier to control the wagons of the system. For example, different points can be set by switching on and off can be realized in a guardrail system.
  • the guide rail can also have a reaction iron.
  • a reaction iron can be used as an alternative to this.
  • the advantage of this alternative is that it is relatively simple and inexpensive to implement can be.
  • the guide rail can advantageously be T-shaped, U-shaped or W-shaped be and be arranged so that each leg or legs of the T-shape, the U-shape or the W shape in the direction of the magnetic head.
  • T-shaped, U-shaped or W-shaped be and be arranged so that each leg or legs of the T-shape, the U-shape or the W shape in the direction of the magnetic head.
  • the shape of the magnetic head and matched the shape of the guardrail You can do this in particular the width dimensions of the leg or the legs of the T-shaped, U-shaped or W-shaped magnetic head the width dimensions of the Leg or the leg of the T-shaped, U-shaped or W-shaped guide rail correspond.
  • 1, 2 and 3 is a carriage according to an embodiment of the present Invention shown.
  • FIG. 1 shows in particular a plan view of the steering device of the invention Car. 2 shows a side view of this car. In FIG. 3 is a view taken along line I-I in FIG. 2.
  • the carriage according to the invention comprises one Frame 40, on which four wheels 19 (see Fig. 1) rotatable about a longitudinal axis are attached.
  • Fig. 2 is in particular the wheel 19 with its vertical axis of rotation RA shown.
  • the frame 40 further comprises a holding device 41 and 42 for a rotatable Bearing of a magnetic head 2 about an axis A.
  • a shaft 33 is provided which is rotatable in two bearing devices 32 is supported.
  • a boom 20 by one in the horizontal direction extending axis hA (see in particular Fig. 2) mounted.
  • the magnetic head 2 is rotatably mounted about a vertical axis NA.
  • a connecting rod 21 between the boom 20 and shaft 33 are provided.
  • the boom is rotatably mounted on the shaft 33 in the horizontal direction the boom 20 can face a floor or a guide rail 50 (see Fig. 3), which will be described in detail below, upwards be moved and thereby any obstacles that are on the guardrail, dodge. So that the magnetic head is not damaged when it is used with a any obstacle comes into contact, there is a deflector in front of the magnetic head in the direction of travel 25 arranged.
  • Two coupling rods 29a and 29b are fixedly attached to the shaft 33.
  • Coupling rods are a first steering rod rotatable in the vertical direction about an axis 10a and a second handlebar 10b.
  • a front wheel steering unit 1a and a rear wheel steering unit 1b actuated. Because the front wheel steering unit 1a and the rear wheel steering unit 1b are identical to one another in the present case are constructed, only the front wheel steering unit 1a is described in detail below.
  • the front wheel steering unit 1 a comprises a two-leg steering column lever 11 which is rotatably connected to the frame of the carriage about a vertical axis.
  • the end of the first leg is rotatably connected to the handlebar 10a
  • the end of the second leg is rotatably connected to a first steering push rod 12.
  • the front wheel steering unit 1 a comprises an intermediate lever 13, one of which End also rotatable about a vertical axis with the frame of the car is connected and the other end rotatable with a second steering push rod 14 is connected.
  • the other end of the steering push rod 12 is connected to a first wheel steering lever 16 rotatably connected.
  • the other end of the first wheel control lever 16 is with a first wheel 18 rotatably attached to the carriage about a vertical axis.
  • the other end of the second steering push rod 14 is one Wheel steering lever 17 rotatably connected.
  • the other end of the second wheel control arm 17 is correspondingly rotatable about a vertical axis wheel 19 attached to the carriage.
  • the coupling rods 29a and 29b are firmly connected to the shaft 33, causes the boom 20 to deflect downward to deflect the first Coupling rod 29a to the left and the second coupling rod 29b to the right. Accordingly the first handlebar 10a also turns to the left and the second handlebar 10b moved to the right, as indicated by the arrows in Fig. 1.
  • the first steering push rod 12 is also moved upwards. Will continue via the tie rod 15, which is also moved upwards, the second steering push rod 14 moved up. The same applies to the two steering push rods the rear wheel steering unit.
  • the handlebars for the front wheel steering unit and the rear wheel steering unit run in one plane.
  • the coupling rod in one piece.
  • the front wheel steering unit or the rear wheel steering unit can be dispensed with.
  • the in this case realized curve radii are larger than in the embodiment with two steering units, however, the car then also allows bodies where there is no space is available for a second steering unit.
  • the magnetic head can be attached directly to the shaft 33, i.e. it can be dispensed with a boom 20.
  • Such Embodiment can be used, for example, if only small loads are transported should be.
  • Fig. 1 the steering shown in Fig. 1 is to be understood only as an example. Of course, there can also be other steering mechanisms in which a deflection of a magnetic head leads to a corresponding direct steering, depending on Field of application.
  • FIG. 4 is a view of a magnetic head 26 and a guide rail 50 of a first one Embodiment of a system according to the present invention shown.
  • the magnetic head consists of several bar magnets 26a, 26b and 26c, which are on one Pole plate 26d are attached. 4, the north poles are the Magnets 26a, 26b and 26c are provided in the direction of the guide rail 56.
  • the pole plate 26d serves on the one hand for fastening the magnets 26a, 26b and 26c and on the other hand to strengthen the magnetic field.
  • the number of magnets used is determined according to the desired coupling strength between the magnetic head and guardrail.
  • the guide rail 56 is in the form of a T-shaped reaction iron, preferably one Soft iron, provided. As can be seen from Fig. 4, this iron is flush in the Embedded in the floor. On the one hand, this results in contamination and thus possible business interruptions avoided. On the other hand, acuh can cause injury can be avoided by protruding rails.
  • the width of the magnets 26a, 26b and 26c and the width of the leg of the Inference iron 56 correspond to each other. In particular, these widths are like this to keep it as narrow as possible, so that the strongest possible coupling between the Magnets and the reaction iron is guaranteed.
  • the magnetic head shown is preferably rotatable about a vertical axis attached to the vehicle or on the boom, so that it is particularly one Curve-shaped guardrail can follow, so that always a maximum coupling between the magnetic head and guardrail is guaranteed.
  • FIG 5 is an oblique view of a magnetic head 27 and a guide rail 57 one second embodiment of a system according to the present invention.
  • FIG. 5 differs from that shown in FIG. 4 Shape in that both the magnetic head and the guide rail are U-shaped are trained. As shown in Fig. 5, the U-shaped configuration higher magnetic flux and thus stronger coupling can be achieved.
  • FIG. 6 is an oblique view of a magnetic head 28 and a guide rail 58 third embodiment of a system according to the present invention.
  • Either the magnetic head 28 and the reaction iron 58 are W-shaped. In this way, an embodiment which is increased compared to the embodiment shown in FIG. 5 can be used magnetic coupling can be achieved.
  • electromagnets can also be used. This will make the structure of the magnetic head more complicated, on the other hand, an electromagnet leads to an improved Manageability of the car. By switching off the electromagnet the car can for example, be moved independently of the guardrail. This is particularly so advantageous if the car has a switch in a guardrail system should drive or should be taken completely out of the guardrail system.
  • the guide rails in the form of magnets for example Permanent magnets or electromagnets can be provided.
  • magnets for example Permanent magnets or electromagnets
  • An electromagnet facilitates control of the system's carriages. For example, different points can be set by switching on and off can be realized in a guardrail system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)
EP99108761A 1999-05-03 1999-05-03 Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé Withdrawn EP1050426A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP99108761A EP1050426A1 (fr) 1999-05-03 1999-05-03 Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP99108761A EP1050426A1 (fr) 1999-05-03 1999-05-03 Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé

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EP1050426A1 true EP1050426A1 (fr) 2000-11-08

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EP99108761A Withdrawn EP1050426A1 (fr) 1999-05-03 1999-05-03 Véhicule autopropulsé et système utilisant un tel véhicule autopropulsé

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004103792A1 (fr) * 2003-05-21 2004-12-02 Schierholz-Translift Schweiz Ag Ensemble rail, aiguillage et dispositif de transport equipe de capteurs magnetostrictifs
CN102160838A (zh) * 2010-02-15 2011-08-24 西门子公司 用于医疗设备的导引系统、医疗设备、可移动的输送装置及方法
CN110251948A (zh) * 2019-07-25 2019-09-20 深圳市鑫美幻想工程有限公司 一种游乐设施小车后桥结构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2188294A (en) * 1986-03-10 1987-09-30 Matsushita Electric Ind Co Ltd Automatic guided vehicle
US4926958A (en) * 1987-06-04 1990-05-22 Toyota Jidosha Kabushiki Kaisha Guide device for automated guided vehicle
DE3918296A1 (de) * 1989-06-05 1990-12-06 Hans E Vogt System fuer automatische spurfuehrung fuer kraftfahrzeuge
DE4119245A1 (de) * 1991-06-11 1992-12-17 Josef Martin Kurz Transportanlage mit wenigstens einem selbstfahrenden transportwagen und wenigstens einer leitlinie zu dessen spurfuehrung sowie zugehoeriger transportwagen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2188294A (en) * 1986-03-10 1987-09-30 Matsushita Electric Ind Co Ltd Automatic guided vehicle
US4926958A (en) * 1987-06-04 1990-05-22 Toyota Jidosha Kabushiki Kaisha Guide device for automated guided vehicle
DE3918296A1 (de) * 1989-06-05 1990-12-06 Hans E Vogt System fuer automatische spurfuehrung fuer kraftfahrzeuge
DE4119245A1 (de) * 1991-06-11 1992-12-17 Josef Martin Kurz Transportanlage mit wenigstens einem selbstfahrenden transportwagen und wenigstens einer leitlinie zu dessen spurfuehrung sowie zugehoeriger transportwagen

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004103792A1 (fr) * 2003-05-21 2004-12-02 Schierholz-Translift Schweiz Ag Ensemble rail, aiguillage et dispositif de transport equipe de capteurs magnetostrictifs
CN102160838A (zh) * 2010-02-15 2011-08-24 西门子公司 用于医疗设备的导引系统、医疗设备、可移动的输送装置及方法
EP2359792A3 (fr) * 2010-02-15 2013-08-14 Siemens Aktiengesellschaft Système de guidage pour installations médicales, installation médicale, dispositif de transport mobile et procédé
CN110251948A (zh) * 2019-07-25 2019-09-20 深圳市鑫美幻想工程有限公司 一种游乐设施小车后桥结构

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